This work proposes a new technique to plan enveloping grasps of 2D objects. The method is guided by the idea that the best grasp is the grasp that has a complete and proper contact between the hand and the object. This technique searches for the maximum value of a Grasp Quality Metric (Q) which corresponds to the best enveloping grasp. To find this value, the proposed technique requires the development of two algorithms. The first one generates a grasp for a given object at a specific approach angle, and it is called the Grasp
Generator. The second one is called the Search Algorithm. This algorithm explores all approach angles for the best grasp. The proposed method is used for a two-fingered robotic hand with eight degrees of freedom, and it is implemented and tested on a wide variety of 2D objects to show its effectiveness.